Fix I2C Read Sequence extra unused byte transmission error

Due to extra unused byte transmission in the Read Sequence,causing I2C cannot successfully pass
test_connection function.

Bug discription:

Predicted Reading Sequence
Master   |S|AD+W|   |RA|   |S|AD+R|   |    |NACK|P|
Slave    | |    |ACK|  |ACK| |    |ACK|DATA|    | |

But,in the second Start condition,original code could cause extra byte(because using RestartI2C() function).
Using StopI2C() and then StartI2C() can fix this error

dsPIC30F/I2Cdev/I2CdevdsPic30F.X/nbproject/Makefile-genesis.properties

@@ -1,5 +1,5 @@
 #
-#Tue Apr 04 10:56:56 CST 2017
+#Tue Apr 04 21:56:23 CST 2017
 default.com-microchip-mplab-nbide-toolchainXC16-XC16LanguageToolchain.md5=ebaa75370c1463d650408e4144ba15de
 default.languagetoolchain.dir=/opt/microchip/xc16/v1.30/bin
 configurations-xml=e23099a44127c530cab293bfc5554ec5

dsPIC30F/MPU6050/Examples/MPU6050_example.X/I2Cdev.c

@@ -101,7 +101,7 @@ int8_t I2Cdev_readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_
     while(!IFS0bits.MI2CIF); // Wait for 9th clock cycle
     IFS0bits.MI2CIF = 0;     // Clear interrupt flag
     //while(I2CSTATbits.ACKSTAT);
-    //delay_ms_I2C(10);
+    //delay_us_I2C(100);
     /*Master send RA*/
     /* Write Register Address */
     MasterWriteI2C(regAddr);
@@ -114,36 +114,43 @@ int8_t I2Cdev_readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_
     IFS0bits.MI2CIF = 0;     // Clear interrupt flag
     while(I2CSTATbits.ACKSTAT);
 
-    //delay_ms_I2C(10);
+    //delay_us_I2C(100);
+
+    /*Master Pause*/
+    StopI2C();
+    /* Wait till stop sequence is completed */
+    while(I2CCONbits.PEN);
+
     /*Master Start*/
-    RestartI2C();
+    StartI2C();
     /* Wait till Start sequence is completed */
     while(I2CCONbits.SEN);
 
     /*Master send AD+R*/
     /* Write Slave Address (Read)*/
     MasterWriteI2C(devAddr << 1 | 0x01);
+    //while(!MasterWriteI2C(devAddr << 1 | 0x01));
     /* Wait until address is transmitted */
     while(I2CSTATbits.TBF);  // 8 clock cycles
 
     /*Slave send Ack*/
     while(!IFS0bits.MI2CIF); // Wait for 9th clock cycle
     IFS0bits.MI2CIF = 0;     // Clear interrupt flag
     while(I2CSTATbits.ACKSTAT);
-    //delay_ms_I2C(10);
+    //delay_us_I2C(100);
 
     /*Slave send DATA*/
     //uint16_t flag = MastergetsI2C(length,data,I2C_DATA_WAIT);
 
     /*Slave send NACK*/
+    //MastergetsI2C(length,data,100);
     //NotAckI2C();
 
     data[0] = MasterReadI2C();
     unsigned int i;
     for (i = 1 ; i < length ; i++ ){
         AckI2C();
         while(I2CCONbits.ACKEN == 1);
-		//delay_ms_I2C(10);
         data[i] = MasterReadI2C();
     }
     NotAckI2C();
@@ -153,8 +160,8 @@ int8_t I2Cdev_readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_
     /* Wait till stop sequence is completed */
     while(I2CCONbits.PEN);
     //CloseI2C();
-    IdleI2C();
-    return true;
+    //IdleI2C();
+    return length;
 }
 
 /** Read single byte from an 8-bit device register.
@@ -290,7 +297,6 @@ bool I2Cdev_writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t
     while(I2CCONbits.SEN);
     /* Clear interrupt flag */
     IFS0bits.MI2CIF = 0;
-    //delay_ms_I2C(10);
 
     /*Master send AD+W*/
     /* Write Slave address (Write)*/
@@ -302,7 +308,7 @@ bool I2Cdev_writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t
     while(!IFS0bits.MI2CIF); // Wait for 9th clock cycle
     IFS0bits.MI2CIF = 0;     // Clear interrupt flag
     while(I2CSTATbits.ACKSTAT);
-    //delay_ms_I2C(10);
+    //delay_us_I2C(100);
 
     /*Master send RA*/
     /* Write Slave address (Write)*/
@@ -313,20 +319,31 @@ bool I2Cdev_writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t
     /*Slave send ACK*/
     while(!IFS0bits.MI2CIF); // Wait for 9th clock cycle
     IFS0bits.MI2CIF = 0;     // Clear interrupt flag
-    //delay_ms_I2C(10);
+    //delay_us_I2C(100);
     while(I2CSTATbits.ACKSTAT);
 
     /*Master send data*/
     /* Transmit string of data */
     MasterputsI2C(data);
+    //uint8_t i;
+    //for (i = 0 ; i < length ; i++){
+    //    MasterWriteI2C(data[i]);
+        /* Wait till address is transmitted */
+    //    while(I2CSTATbits.TBF);  // 8 clock cycles
+
+        /*Slave send ACK*/
+    //    while(!IFS0bits.MI2CIF); // Wait for 9th clock cycle
+    //    IFS0bits.MI2CIF = 0;     // Clear interrupt flag
+        //delay_us_I2C(100);
+    //}
     while(!IFS0bits.MI2CIF); // Wait for 9th clock cycle
     IFS0bits.MI2CIF = 0;     // Clear interrupt flag
-
+    
     StopI2C();
     /* Wait till stop sequence is completed */
     while(I2CCONbits.PEN);
     //CloseI2C();
-    IdleI2C();
+    //IdleI2C();
     return true;
 }
 
@@ -419,7 +436,7 @@ bool I2Cdev_writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_
         data &= mask; // zero all non-important bits in data
         b &= ~(mask); // zero all important bits in existing byte
         b |= data; // combine data with existing byte
-        delay_ms_I2C(10);
+        //delay_ms_I2C(10);
 		return I2Cdev_writeByte(devAddr, regAddr, b);
     } else {
         return false;

dsPIC30F/MPU6050/Examples/MPU6050_example.X/MPU6050.c

@@ -90,17 +90,10 @@ void MPU6050(uint8_t address)
  */
 void MPU6050_initialize()
 {
-
-
-	MPU6050_setSleepEnabled(
-	    false); // thanks to Jack Elston for pointing this one out!
-	delay_ms(20);
-	MPU6050_setClockSource(MPU6050_CLOCK_PLL_XGYRO);
-	delay_ms(20);
-	MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
-	delay_ms(20);
-	MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_250);
-    delay_ms(100);
+    MPU6050_setClockSource(MPU6050_CLOCK_PLL_XGYRO);                                                                    
+    MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_250);                                                                 
+    MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_2);                                                                 
+    MPU6050_setSleepEnabled(false);
 }
 
 /** Verify the I2C connection.